GAZEBO下基于python的键盘控制小程序

最新推荐文章于 2023-11-17 11:32:13 发布

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本文介绍了一段用于在ROS环境下通过键盘控制飞行器和汽车的Python代码。该代码利用了geometry_msgs中的Twist消息类型，实现了方向键操作下的速度和转向控制，并提供了速度调整功能。适用于GAZEBO仿真环境。

代码如下

#!/usr/bin/env python
import roslib; roslib.load_manifest('teleop_twist_keyboard')
import rospy

from geometry_msgs.msg import Twist

import sys, select, termios, tty

msg = """
Reading from the keyboard  and Publishing to Twist!
---------------------------
Moving around:
   u    d    o
   j    k    l
   m    s    .

For Holonomic mode (strafing), hold down the shift key:
---------------------------
   U    I    O
   w    K    a
   M    <    >

t : up (+z)
b : down (-z)

anything else : stop

t/g : increase/decrease max speeds by 10%
r/f : increase/decrease only linear speed by 10%
y/h : increase/decrease only angular speed by 10%

CTRL-C to quit
"""

moveBindings = {
		'd':(1,0,0,0),
		'o':(1,0,0,-1),
		'j':(0,0,0,1),
		'l':(0,0,0,-1),
		'u':(1,0,0,1),
		'a':(-1,0,0,0),
		'.':(-1,0,0,1),
		'm':(-1,0,0,-1),
		'O':(1,-1,0,0),
		'I':(1,0,0,0),
		'w':(0,1,0,0),
		's':(0,-1,0,0),
		'U':(1,1,0,0),
		'<':(-1,0,0,0),
		'>':(-1,-1,0,0),
		'M':(-1,1,0,0),
		'v':(0,0,1,0),
		'b':(0,0,-1,0),
	       }

speedBindings={
		't':(1.1,1.1),
		'g':(.9,.9),
		'r':(1.1,1),
		'f':(.9,1),
		'y':(1,1.1),
		'h':(1,.9),
	      }

def getKey():
	tty.setraw(sys.stdin.fileno())
	select.select([sys.stdin], [], [], 0)
	key = sys.stdin.read(1)
	termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
	return key


def vels(speed,turn):
	return "currently:\tspeed %s\tturn %s " % (speed,turn)

if __name__=="__main__":
    	settings = termios.tcgetattr(sys.stdin)
	
	pub = rospy.Publisher('cmd_vel', Twist, queue_size = 100)
	rospy.init_node('teleop_twist_keyboard')

	speed = rospy.get_param("~speed", 0.5)
	turn = rospy.get_param("~turn", 1.0)
	x = 0
	y = 0
	z = 0
	th = 0
	status = 0

	try:
		print msg
		print vels(speed,turn)
		while(1):
			key = getKey()
			if key in moveBindings.keys():
				x = moveBindings[key][0]
				y = moveBindings[key][1]
				z = moveBindings[key][2]
				th = moveBindings[key][3]
			elif key in speedBindings.keys():
				speed = speed * speedBindings[key][0]
				turn = turn * speedBindings[key][1]

				print vels(speed,turn)
				if (status == 14):
					print msg
				status = (status + 1) % 15
			else:
				x = 0
				y = 0
				z = 0
				th = 0
				if (key == '\x03'):
					break

			twist = Twist()
                        ##twist.header.stamp = rospy.Time.now();
			twist.linear.x = x*speed; twist.linear.y = y*speed; twist.linear.z = z*speed;
			twist.angular.x = 0; twist.angular.y = 0; twist.angular.z = th*turn
			pub.publish(twist)

	except:
		print e

	finally:
		twist = Twist()
                twist.header.stamp = rospy.Time.now();
		twist.linear.x = 0; twist.linear.y = 0; twist.linear.z = 0
		twist.angular.x = 0; twist.angular.y = 0; twist.angular.z = 0
		pub.publish(twist)

    		termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)

该代码经过适当修改，可应用于GAZEBO的飞行器以及汽车的键盘控制